Colony » Colony Scout

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file sonar.h

 * @brief Contains sonar declarations and functions

 * 

 * Contains functions and definitions for the use of

 * sonar

 *

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 **/

#ifndef _SONAR_H_

#define _SONAR_H_

/** @brief Initialize the sonar in the library module **/

void sonar_init(void);

/** @brief Initialize the sonar module and drivers **/

void sonar_module_init(void);

/** @brief Read raw sonar data from the sonar module. Takes stepper

 * position and sensor to read **/

int sonar_read_raw(int direction, int sensor);

/** @brief Wrapper for reading sonar data (angle in degrees and distance in

 * cm) **/

int sonar_read(int direction);

/** @brief Subscribe function to sonar topic **/

void sonar_subscribe(int *function());

#endif